Ben Gordon / Mbed 2 deprecated rplidar_arduino-master

lidar code for ROC318

Dependencies:   BufferedSerial mbed

inc/rptypes.h@0:0791d48ee421, 2018-10-19 (annotated)

Committer:
BenRJG
Date:
Fri Oct 19 17:42:05 2018 +0000
Revision:
0:0791d48ee421
Imported lidar code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BenRJG 0:0791d48ee421 1 /*
BenRJG 0:0791d48ee421 2 * Copyright (c) 2014, RoboPeak
BenRJG 0:0791d48ee421 3 * All rights reserved.
BenRJG 0:0791d48ee421 4 *
BenRJG 0:0791d48ee421 5 * Redistribution and use in source and binary forms, with or without modification,
BenRJG 0:0791d48ee421 6 * are permitted provided that the following conditions are met:
BenRJG 0:0791d48ee421 7 *
BenRJG 0:0791d48ee421 8 * 1. Redistributions of source code must retain the above copyright notice,
BenRJG 0:0791d48ee421 9 * this list of conditions and the following disclaimer.
BenRJG 0:0791d48ee421 10 *
BenRJG 0:0791d48ee421 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
BenRJG 0:0791d48ee421 12 * this list of conditions and the following disclaimer in the documentation
BenRJG 0:0791d48ee421 13 * and/or other materials provided with the distribution.
BenRJG 0:0791d48ee421 14 *
BenRJG 0:0791d48ee421 15 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
BenRJG 0:0791d48ee421 16 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
BenRJG 0:0791d48ee421 17 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
BenRJG 0:0791d48ee421 18 * SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
BenRJG 0:0791d48ee421 19 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
BenRJG 0:0791d48ee421 20 * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
BenRJG 0:0791d48ee421 21 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
BenRJG 0:0791d48ee421 22 * TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
BenRJG 0:0791d48ee421 23 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
BenRJG 0:0791d48ee421 24 *
BenRJG 0:0791d48ee421 25 */
BenRJG 0:0791d48ee421 26 /*
BenRJG 0:0791d48ee421 27 * RoboPeak LIDAR System
BenRJG 0:0791d48ee421 28 * Common Types definition
BenRJG 0:0791d48ee421 29 *
BenRJG 0:0791d48ee421 30 * Copyright 2009 - 2014 RoboPeak Team
BenRJG 0:0791d48ee421 31 * http://www.robopeak.com
BenRJG 0:0791d48ee421 32 *
BenRJG 0:0791d48ee421 33 */
BenRJG 0:0791d48ee421 34
BenRJG 0:0791d48ee421 35 #pragma once
BenRJG 0:0791d48ee421 36
BenRJG 0:0791d48ee421 37
BenRJG 0:0791d48ee421 38 #ifdef _WIN32
BenRJG 0:0791d48ee421 39
BenRJG 0:0791d48ee421 40 //fake stdint.h for VC only
BenRJG 0:0791d48ee421 41
BenRJG 0:0791d48ee421 42 typedef signed char int8_t;
BenRJG 0:0791d48ee421 43 typedef unsigned char uint8_t;
BenRJG 0:0791d48ee421 44
BenRJG 0:0791d48ee421 45 typedef __int16 int16_t;
BenRJG 0:0791d48ee421 46 typedef unsigned __int16 uint16_t;
BenRJG 0:0791d48ee421 47
BenRJG 0:0791d48ee421 48 typedef __int32 int32_t;
BenRJG 0:0791d48ee421 49 typedef unsigned __int32 uint32_t;
BenRJG 0:0791d48ee421 50
BenRJG 0:0791d48ee421 51 typedef __int64 int64_t;
BenRJG 0:0791d48ee421 52 typedef unsigned __int64 uint64_t;
BenRJG 0:0791d48ee421 53
BenRJG 0:0791d48ee421 54 #else
BenRJG 0:0791d48ee421 55
BenRJG 0:0791d48ee421 56 #include <stdint.h>
BenRJG 0:0791d48ee421 57
BenRJG 0:0791d48ee421 58 #endif
BenRJG 0:0791d48ee421 59
BenRJG 0:0791d48ee421 60
BenRJG 0:0791d48ee421 61 //based on stdint.h
BenRJG 0:0791d48ee421 62 typedef int8_t _s8;
BenRJG 0:0791d48ee421 63 typedef uint8_t _u8;
BenRJG 0:0791d48ee421 64
BenRJG 0:0791d48ee421 65 typedef int16_t _s16;
BenRJG 0:0791d48ee421 66 typedef uint16_t _u16;
BenRJG 0:0791d48ee421 67
BenRJG 0:0791d48ee421 68 typedef int32_t _s32;
BenRJG 0:0791d48ee421 69 typedef uint32_t _u32;
BenRJG 0:0791d48ee421 70
BenRJG 0:0791d48ee421 71 typedef int64_t _s64;
BenRJG 0:0791d48ee421 72 typedef uint64_t _u64;
BenRJG 0:0791d48ee421 73
BenRJG 0:0791d48ee421 74 #define __small_endian
BenRJG 0:0791d48ee421 75
BenRJG 0:0791d48ee421 76 #ifndef __GNUC__
BenRJG 0:0791d48ee421 77 #define __attribute__(x)
BenRJG 0:0791d48ee421 78 #endif
BenRJG 0:0791d48ee421 79
BenRJG 0:0791d48ee421 80
BenRJG 0:0791d48ee421 81 // The _word_size_t uses actual data bus width of the current CPU
BenRJG 0:0791d48ee421 82 #ifdef _AVR_
BenRJG 0:0791d48ee421 83 typedef _u8 _word_size_t;
BenRJG 0:0791d48ee421 84 #define THREAD_PROC
BenRJG 0:0791d48ee421 85 #elif defined (WIN64)
BenRJG 0:0791d48ee421 86 typedef _u64 _word_size_t;
BenRJG 0:0791d48ee421 87 #define THREAD_PROC __stdcall
BenRJG 0:0791d48ee421 88 #elif defined (WIN32)
BenRJG 0:0791d48ee421 89 typedef _u32 _word_size_t;
BenRJG 0:0791d48ee421 90 #define THREAD_PROC __stdcall
BenRJG 0:0791d48ee421 91 #elif defined (__GNUC__)
BenRJG 0:0791d48ee421 92 typedef unsigned long _word_size_t;
BenRJG 0:0791d48ee421 93 #define THREAD_PROC
BenRJG 0:0791d48ee421 94 #elif defined (__ICCARM__)
BenRJG 0:0791d48ee421 95 typedef _u32 _word_size_t;
BenRJG 0:0791d48ee421 96 #define THREAD_PROC
BenRJG 0:0791d48ee421 97 #endif
BenRJG 0:0791d48ee421 98
BenRJG 0:0791d48ee421 99
BenRJG 0:0791d48ee421 100 typedef uint32_t u_result;
BenRJG 0:0791d48ee421 101
BenRJG 0:0791d48ee421 102 #define RESULT_OK 0
BenRJG 0:0791d48ee421 103 #define RESULT_FAIL_BIT 0x80000000
BenRJG 0:0791d48ee421 104 #define RESULT_ALREADY_DONE 0x20
BenRJG 0:0791d48ee421 105 #define RESULT_INVALID_DATA (0x8000 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 106 #define RESULT_OPERATION_FAIL (0x8001 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 107 #define RESULT_OPERATION_TIMEOUT (0x8002 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 108 #define RESULT_OPERATION_STOP (0x8003 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 109 #define RESULT_OPERATION_NOT_SUPPORT (0x8004 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 110 #define RESULT_FORMAT_NOT_SUPPORT (0x8005 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 111 #define RESULT_INSUFFICIENT_MEMORY (0x8006 | RESULT_FAIL_BIT)
BenRJG 0:0791d48ee421 112
BenRJG 0:0791d48ee421 113 #define IS_OK(x) ( ((x) & RESULT_FAIL_BIT) == 0 )
BenRJG 0:0791d48ee421 114 #define IS_FAIL(x) ( ((x) & RESULT_FAIL_BIT) )
BenRJG 0:0791d48ee421 115
BenRJG 0:0791d48ee421 116 typedef _word_size_t (THREAD_PROC * thread_proc_t ) ( void * );